Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 17 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2832 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -77013.383 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -77013.383

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2832 MASS 52000 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 17 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 011302,6141.104,-915.955,38,1.5,38,-9.4 TGT_NAME B2

_CALLS 3 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.253,0.075

_SM_DEPTHo 0.60 KALMAN_X -24508.2,2040.6,1104.1,-31499.9,-16413.9

_SM_ANGLEo -53.8 KALMAN_Y -14723.1,918.8,100.7,43851.2,-6520.4

GPS2 012432,6141.173,-916.069,14,1.0,31,-9.4 MHEAD_RNG_PITCHd_Wd 82.9,4464,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.002710 ALTIM_BOTTOM_PING 751.7,96.7

SM_CCo 13062,0.00,0.000,0,0,1341,365.99 _24V_AH 23.7,6.828

SM_GC 0.70,11.38,0.00,0.00,0.038,0.000,0.000,420,2154,1341,-10.40,0.11,365.99 _10V_AH 10.0,2.289

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31756,621

TT8_MAMPS 0.029146 CAP_FILE_SIZE 105387,0

HUMID 1679 CFSIZE 254472192,251244544

TCM_TEMP 17.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,14,0,0

XPDR_PINGS 424 GPS 090608,050407,6140.106,-918.232,27,1.4,27,-9.4

ALTIM_TOP_PING 19.0,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 83.68 SBE_CT 426 24 242.57

Roll_motor 119 96 274.33 SBE_O2 457 19 205.95

VBD_pump_during_apogee 436 1451 15032.34 WL_BB2F 332 105 827.63

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 276.53 nil 0 0 0.00

Iridium_during_connect 95 160 362.68 nil 0 0 0.00

Iridium_during_xfer 224 223 1185.02

Transponder_ping 112 420 1122.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.88

TT8 1183 19 234.32

LPSleep 9840 2 215.51

TT8_Active 534 19 105.76

TT8_Sampling 1516 39 603.76

TT8_CF8 678 45 310.74

TT8_Kalman 33 81 27.29

Analog_circuits 1325 12 159.07

GPS_charging 0 0 0.00

Compass 1459 8 116.78

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

20 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.44 -146.6 0.0 0.0 0 127 0.00 0.00 -100.93 0.000 2 0.000 0.000 418 2163 3371

130 -1.44 -146.6 4.1 -3.9 5 153 10.18 2.60 -1.30 0.000 4 0.138 0.075 2377 3561 3432

403 -1.22 -146.6 64.6 -20.7 17 408 0.28 2.55 0.00 0.000 6 0.099 0.048 2432 2134 3433

732 -1.15 -146.6 118.9 -16.5 33 737 0.00 2.60 0.00 0.000 4 0.000 0.065 2432 3554 3433

910 -1.10 -146.6 151.6 -18.3 41 915 0.12 2.50 0.00 0.000 6 0.104 0.049 2457 2143 3433

1236 -1.10 -146.6 204.0 -15.5 57 1241 0.00 2.60 0.00 0.000 4 0.000 0.065 2457 3554 3434

1270 -1.10 -146.6 209.4 -15.4 58 1276 0.00 2.50 0.00 0.000 6 0.000 0.049 2457 2149 3434

1585 -1.10 -146.6 253.3 -13.4 74 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2132 3434

1895 -1.10 -146.6 286.4 -9.4 89 1896 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2132 3434

2204 -1.10 -146.6 315.1 -9.1 104 2209 0.00 2.58 0.00 0.000 4 0.000 0.069 2457 3558 3434

2232 -1.10 -146.6 318.0 -10.0 105 2236 0.00 2.53 0.00 0.000 6 0.000 0.053 2457 2150 3434

2549 -1.10 -146.6 346.1 -8.7 120 2553 0.00 2.53 0.00 0.000 4 0.000 0.068 2457 750 3434

2582 -1.10 -146.6 349.3 -8.7 121 2588 0.00 2.53 0.00 0.000 6 0.000 0.055 2457 2147 3433

2898 -1.10 -146.6 374.9 -7.4 137 2903 0.00 2.58 0.00 0.000 4 0.000 0.071 2457 3558 3433

2931 -1.10 -146.6 377.5 -7.9 138 2935 0.00 2.53 0.00 0.000 6 0.000 0.054 2457 2151 3433

3247 -1.10 -146.6 404.9 -10.5 153 3251 0.00 2.55 0.00 0.000 4 0.000 0.069 2457 742 3433

3291 -1.15 -146.6 410.2 -11.8 155 3296 0.00 2.55 0.00 0.000 6 0.000 0.056 2458 2160 3433

3612 -1.15 -146.6 449.9 -13.7 171 3613 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2160 3433

3922 -1.15 -146.6 496.3 -15.2 186 3926 0.00 2.58 0.00 0.000 4 0.000 0.067 2457 750 3432

3961 -1.21 -146.6 502.7 -16.4 188 3966 0.00 2.53 0.00 0.000 6 0.000 0.056 2458 2149 3432

4289 -1.21 -146.6 552.8 -15.0 204 4293 0.00 2.60 0.00 0.000 4 0.000 0.070 2457 750 3432

4356 -1.26 -146.6 562.9 -14.9 207 4361 0.15 2.55 0.00 0.000 6 0.054 0.058 2418 2153 3432

4679 -1.19 -146.6 616.4 -16.0 223 4684 0.10 2.58 0.00 0.000 4 0.110 0.073 2435 3560 3432

4787 -1.19 -146.6 629.9 -12.0 228 4791 0.00 2.53 0.00 0.000 6 0.000 0.056 2435 2152 3432

5113 -1.19 -146.6 667.1 -10.2 244 5117 0.00 2.58 0.00 0.000 4 0.000 0.074 2435 743 3432

5289 -1.19 -146.6 680.7 -5.9 252 5294 0.00 2.58 0.00 0.000 6 0.000 0.063 2435 2149 3432

5617 -1.19 -146.6 697.2 -6.9 268 5618 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2149 3432

5926 -1.19 -146.6 728.6 -11.8 283 5930 0.00 2.65 0.00 0.000 4 0.000 0.086 2435 3558 3431

5998 -1.19 -146.6 737.3 -12.1 286 6002 0.00 2.60 0.00 0.000 6 0.000 0.070 2435 2155 3430

6314 -1.19 -146.6 774.1 -11.1 301 6318 0.00 2.70 0.00 0.000 4 0.000 0.089 2435 3561 3429

6425 -1.19 -146.6 787.9 -14.5 306 6430 0.00 2.62 0.00 0.000 6 0.000 0.070 2435 2148 3428

6747 -1.19 -146.6 832.1 -11.3 322 6748 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2122 3427

6827 end dive: BOTTOM_OBSTACLE_DETECTED

state 6827 begin apogee

6834 -0.33 0.0 839.3 8.2 326 6962 0.90 0.00 125.43 1.452 6 0.095 0.000 2622 2133 2832

6963 end apogee: CONTROL_FINISHED_OK

state 6963 begin climb

6966 1.44 146.6 845.9 0.0 332 7101 1.80 2.80 124.65 1.414 4 0.070 0.097 3009 743 2234

7360 1.25 146.6 812.1 11.2 350 7365 0.20 2.67 0.00 0.000 6 0.109 0.077 2974 2147 2232

7687 1.54 325.8 788.6 1.8 366 7847 0.25 2.80 150.10 1.397 4 0.058 0.093 3034 745 1503

7881 1.44 325.8 762.0 16.8 374 7886 0.12 2.72 0.00 0.000 6 0.112 0.079 3013 2155 1503

8196 1.44 325.8 705.4 18.8 389 8201 0.00 2.70 0.00 0.000 4 0.000 0.091 3013 3568 1503

8218 1.44 325.8 701.0 20.7 390 8223 0.00 2.70 0.00 0.000 6 0.000 0.074 3013 2146 1503

8539 1.44 325.8 642.1 18.1 406 8543 0.00 2.67 0.00 0.000 4 0.000 0.090 3013 739 1502

8611 1.44 325.8 628.8 17.5 409 8616 0.00 2.67 0.00 0.000 6 0.000 0.077 3013 2152 1502

8927 1.44 325.8 578.6 15.3 424 8928 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2152 1502

9236 1.44 325.8 535.6 12.0 439 9237 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2151 1501

9546 1.50 343.5 500.2 9.2 454 9568 0.00 2.72 16.08 1.167 4 0.000 0.074 3013 738 1431

9624 1.54 367.1 493.2 8.9 457 9651 0.10 2.62 20.60 1.177 6 0.064 0.063 3038 2152 1335

9960 1.54 367.1 454.7 12.1 473 9964 0.00 2.65 0.00 0.000 4 0.000 0.074 3038 737 1336

10005 1.54 367.1 449.0 13.1 475 10010 0.00 2.60 0.00 0.000 6 0.000 0.061 3039 2151 1336

10327 1.54 367.1 411.1 11.3 491 10331 0.00 2.62 0.00 0.000 4 0.000 0.071 3038 737 1336

10348 1.54 367.1 408.4 11.7 492 10353 0.00 2.60 0.00 0.000 6 0.000 0.059 3038 2155 1337

10669 1.54 367.1 371.2 12.2 508 10670 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2155 1337

10978 1.54 367.1 331.0 13.7 523 10983 0.00 2.62 0.00 0.000 4 0.000 0.070 3038 734 1338

11024 1.54 367.1 324.4 14.8 525 11028 0.00 2.60 0.00 0.000 6 0.000 0.058 3038 2161 1338

11345 1.54 367.1 273.9 16.7 541 11349 0.00 2.55 0.00 0.000 4 0.000 0.068 3038 3560 1339

11362 1.54 367.1 270.8 16.6 542 11366 0.00 2.58 0.00 0.000 6 0.000 0.055 3038 2138 1339

11688 1.54 367.1 211.1 18.6 558 11689 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2138 1339

11997 1.54 367.1 155.0 17.7 573 11998 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2137 1340

12307 1.54 367.1 99.3 17.9 588 12311 0.00 2.53 0.00 0.000 4 0.000 0.067 3039 746 1341

12325 1.54 367.1 96.4 16.7 589 12329 0.00 2.55 0.00 0.000 6 0.000 0.055 3038 2151 1341

12652 1.54 367.1 44.0 14.9 605 12653 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2149 1341

12958 end climb: SURFACE_DEPTH_REACHED

state 12958 begin surface coast

12980 end surface coast: CONTROL_FINISHED_OK

state 12980 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	17	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2832	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-77013.383	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	011302,6141.104,-915.955,38,1.5,38,-9.4	TGT_NAME	B2
_CALLS	3	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.253,0.075
_SM_DEPTHo	0.60	KALMAN_X	-24508.2,2040.6,1104.1,-31499.9,-16413.9
_SM_ANGLEo	-53.8	KALMAN_Y	-14723.1,918.8,100.7,43851.2,-6520.4
GPS2	012432,6141.173,-916.069,14,1.0,31,-9.4	MHEAD_RNG_PITCHd_Wd	82.9,4464,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.1,1.002710	ALTIM_BOTTOM_PING	751.7,96.7
SM_CCo	13062,0.00,0.000,0,0,1341,365.99	_24V_AH	23.7,6.828
SM_GC	0.70,11.38,0.00,0.00,0.038,0.000,0.000,420,2154,1341,-10.40,0.11,365.99	_10V_AH	10.0,2.289
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31756,621
TT8_MAMPS	0.029146	CAP_FILE_SIZE	105387,0
HUMID	1679	CFSIZE	254472192,251244544
TCM_TEMP	17.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
XPDR_PINGS	424	GPS	090608,050407,6140.106,-918.232,27,1.4,27,-9.4
ALTIM_TOP_PING	19.0,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	83.68	SBE_CT	426	24	242.57
Roll_motor	119	96	274.33	SBE_O2	457	19	205.95
VBD_pump_during_apogee	436	1451	15032.34	WL_BB2F	332	105	827.63
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	276.53	nil	0	0	0.00
Iridium_during_connect	95	160	362.68	nil	0	0	0.00
Iridium_during_xfer	224	223	1185.02
Transponder_ping	112	420	1122.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.88
TT8	1183	19	234.32
LPSleep	9840	2	215.51
TT8_Active	534	19	105.76
TT8_Sampling	1516	39	603.76
TT8_CF8	678	45	310.74
TT8_Kalman	33	81	27.29
Analog_circuits	1325	12	159.07
GPS_charging	0	0	0.00
Compass	1459	8	116.78
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
20	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.44	-146.6	0.0	0.0	0	127	0.00	0.00	-100.93	0.000	2	0.000	0.000	418	2163	3371
130	-1.44	-146.6	4.1	-3.9	5	153	10.18	2.60	-1.30	0.000	4	0.138	0.075	2377	3561	3432
403	-1.22	-146.6	64.6	-20.7	17	408	0.28	2.55	0.00	0.000	6	0.099	0.048	2432	2134	3433
732	-1.15	-146.6	118.9	-16.5	33	737	0.00	2.60	0.00	0.000	4	0.000	0.065	2432	3554	3433
910	-1.10	-146.6	151.6	-18.3	41	915	0.12	2.50	0.00	0.000	6	0.104	0.049	2457	2143	3433
1236	-1.10	-146.6	204.0	-15.5	57	1241	0.00	2.60	0.00	0.000	4	0.000	0.065	2457	3554	3434
1270	-1.10	-146.6	209.4	-15.4	58	1276	0.00	2.50	0.00	0.000	6	0.000	0.049	2457	2149	3434
1585	-1.10	-146.6	253.3	-13.4	74	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2132	3434
1895	-1.10	-146.6	286.4	-9.4	89	1896	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2132	3434
2204	-1.10	-146.6	315.1	-9.1	104	2209	0.00	2.58	0.00	0.000	4	0.000	0.069	2457	3558	3434
2232	-1.10	-146.6	318.0	-10.0	105	2236	0.00	2.53	0.00	0.000	6	0.000	0.053	2457	2150	3434
2549	-1.10	-146.6	346.1	-8.7	120	2553	0.00	2.53	0.00	0.000	4	0.000	0.068	2457	750	3434
2582	-1.10	-146.6	349.3	-8.7	121	2588	0.00	2.53	0.00	0.000	6	0.000	0.055	2457	2147	3433
2898	-1.10	-146.6	374.9	-7.4	137	2903	0.00	2.58	0.00	0.000	4	0.000	0.071	2457	3558	3433
2931	-1.10	-146.6	377.5	-7.9	138	2935	0.00	2.53	0.00	0.000	6	0.000	0.054	2457	2151	3433
3247	-1.10	-146.6	404.9	-10.5	153	3251	0.00	2.55	0.00	0.000	4	0.000	0.069	2457	742	3433
3291	-1.15	-146.6	410.2	-11.8	155	3296	0.00	2.55	0.00	0.000	6	0.000	0.056	2458	2160	3433
3612	-1.15	-146.6	449.9	-13.7	171	3613	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2160	3433
3922	-1.15	-146.6	496.3	-15.2	186	3926	0.00	2.58	0.00	0.000	4	0.000	0.067	2457	750	3432
3961	-1.21	-146.6	502.7	-16.4	188	3966	0.00	2.53	0.00	0.000	6	0.000	0.056	2458	2149	3432
4289	-1.21	-146.6	552.8	-15.0	204	4293	0.00	2.60	0.00	0.000	4	0.000	0.070	2457	750	3432
4356	-1.26	-146.6	562.9	-14.9	207	4361	0.15	2.55	0.00	0.000	6	0.054	0.058	2418	2153	3432
4679	-1.19	-146.6	616.4	-16.0	223	4684	0.10	2.58	0.00	0.000	4	0.110	0.073	2435	3560	3432
4787	-1.19	-146.6	629.9	-12.0	228	4791	0.00	2.53	0.00	0.000	6	0.000	0.056	2435	2152	3432
5113	-1.19	-146.6	667.1	-10.2	244	5117	0.00	2.58	0.00	0.000	4	0.000	0.074	2435	743	3432
5289	-1.19	-146.6	680.7	-5.9	252	5294	0.00	2.58	0.00	0.000	6	0.000	0.063	2435	2149	3432
5617	-1.19	-146.6	697.2	-6.9	268	5618	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2149	3432
5926	-1.19	-146.6	728.6	-11.8	283	5930	0.00	2.65	0.00	0.000	4	0.000	0.086	2435	3558	3431
5998	-1.19	-146.6	737.3	-12.1	286	6002	0.00	2.60	0.00	0.000	6	0.000	0.070	2435	2155	3430
6314	-1.19	-146.6	774.1	-11.1	301	6318	0.00	2.70	0.00	0.000	4	0.000	0.089	2435	3561	3429
6425	-1.19	-146.6	787.9	-14.5	306	6430	0.00	2.62	0.00	0.000	6	0.000	0.070	2435	2148	3428
6747	-1.19	-146.6	832.1	-11.3	322	6748	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2122	3427
6827	end dive: BOTTOM_OBSTACLE_DETECTED
state	6827	begin apogee
6834	-0.33	0.0	839.3	8.2	326	6962	0.90	0.00	125.43	1.452	6	0.095	0.000	2622	2133	2832
6963	end apogee: CONTROL_FINISHED_OK
state	6963	begin climb
6966	1.44	146.6	845.9	0.0	332	7101	1.80	2.80	124.65	1.414	4	0.070	0.097	3009	743	2234
7360	1.25	146.6	812.1	11.2	350	7365	0.20	2.67	0.00	0.000	6	0.109	0.077	2974	2147	2232
7687	1.54	325.8	788.6	1.8	366	7847	0.25	2.80	150.10	1.397	4	0.058	0.093	3034	745	1503
7881	1.44	325.8	762.0	16.8	374	7886	0.12	2.72	0.00	0.000	6	0.112	0.079	3013	2155	1503
8196	1.44	325.8	705.4	18.8	389	8201	0.00	2.70	0.00	0.000	4	0.000	0.091	3013	3568	1503
8218	1.44	325.8	701.0	20.7	390	8223	0.00	2.70	0.00	0.000	6	0.000	0.074	3013	2146	1503
8539	1.44	325.8	642.1	18.1	406	8543	0.00	2.67	0.00	0.000	4	0.000	0.090	3013	739	1502
8611	1.44	325.8	628.8	17.5	409	8616	0.00	2.67	0.00	0.000	6	0.000	0.077	3013	2152	1502
8927	1.44	325.8	578.6	15.3	424	8928	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2152	1502
9236	1.44	325.8	535.6	12.0	439	9237	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2151	1501
9546	1.50	343.5	500.2	9.2	454	9568	0.00	2.72	16.08	1.167	4	0.000	0.074	3013	738	1431
9624	1.54	367.1	493.2	8.9	457	9651	0.10	2.62	20.60	1.177	6	0.064	0.063	3038	2152	1335
9960	1.54	367.1	454.7	12.1	473	9964	0.00	2.65	0.00	0.000	4	0.000	0.074	3038	737	1336
10005	1.54	367.1	449.0	13.1	475	10010	0.00	2.60	0.00	0.000	6	0.000	0.061	3039	2151	1336
10327	1.54	367.1	411.1	11.3	491	10331	0.00	2.62	0.00	0.000	4	0.000	0.071	3038	737	1336
10348	1.54	367.1	408.4	11.7	492	10353	0.00	2.60	0.00	0.000	6	0.000	0.059	3038	2155	1337
10669	1.54	367.1	371.2	12.2	508	10670	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2155	1337
10978	1.54	367.1	331.0	13.7	523	10983	0.00	2.62	0.00	0.000	4	0.000	0.070	3038	734	1338
11024	1.54	367.1	324.4	14.8	525	11028	0.00	2.60	0.00	0.000	6	0.000	0.058	3038	2161	1338
11345	1.54	367.1	273.9	16.7	541	11349	0.00	2.55	0.00	0.000	4	0.000	0.068	3038	3560	1339
11362	1.54	367.1	270.8	16.6	542	11366	0.00	2.58	0.00	0.000	6	0.000	0.055	3038	2138	1339
11688	1.54	367.1	211.1	18.6	558	11689	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2138	1339
11997	1.54	367.1	155.0	17.7	573	11998	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2137	1340
12307	1.54	367.1	99.3	17.9	588	12311	0.00	2.53	0.00	0.000	4	0.000	0.067	3039	746	1341
12325	1.54	367.1	96.4	16.7	589	12329	0.00	2.55	0.00	0.000	6	0.000	0.055	3038	2151	1341
12652	1.54	367.1	44.0	14.9	605	12653	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2149	1341
12958	end climb: SURFACE_DEPTH_REACHED
state	12958	begin surface coast
12980	end surface coast: CONTROL_FINISHED_OK
state	12980	begin surface